com-admittance-controller.cpp

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/*
 * Copyright 2018, Gepetto team, LAAS-CNRS
 *
 * This file is part of sot-talos-balance.
 * sot-talos-balance is free software: you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 * sot-talos-balance is distributed in the hope that it will be
 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
 * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.  You should
 * have received a copy of the GNU Lesser General Public License along
 * with sot-talos-balance.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#include "sot/talos_balance/com-admittance-controller.hh"
 
#include <dynamic-graph/all-commands.h>
#include <dynamic-graph/command-bind.h>
#include <dynamic-graph/factory.h>
 
#include <sot/core/debug.hh>
#include <sot/core/stop-watch.hh>
 
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
namespace dg = ::dynamicgraph;
using namespace dg;
using namespace dg::command;
 
// Size to be aligned "-------------------------------------------------------"
#define PROFILE_COMADMITTANCECONTROLLER_DDCOMREF_COMPUTATION \
  "ComAdmittanceController: ddcomRef computation          "
#define PROFILE_COMADMITTANCECONTROLLER_STATEREF_COMPUTATION \
  "ComAdmittanceController: stateRef computation          "
#define PROFILE_COMADMITTANCECONTROLLER_DCOMREF_COMPUTATION \
  "ComAdmittanceController: dcomRef computation           "
#define PROFILE_COMADMITTANCECONTROLLER_COMREF_COMPUTATION \
  "ComAdmittanceController: comRef computation            "
 
#define INPUT_SIGNALS m_KpSIN << m_zmpSIN << m_zmpDesSIN << m_ddcomDesSIN
 
#define INNER_SIGNALS m_stateRefSINNER
 
#define OUTPUT_SIGNALS m_comRefSOUT << m_dcomRefSOUT << m_ddcomRefSOUT
 
typedef ComAdmittanceController EntityClassName;
 
/* --- DG FACTORY ---------------------------------------------------- */
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(ComAdmittanceController,
                                   "ComAdmittanceController");
 
/* ------------------------------------------------------------------- */
/* --- CONSTRUCTION -------------------------------------------------- */
/* ------------------------------------------------------------------- */
ComAdmittanceController::ComAdmittanceController(const std::string& name)
    : Entity(name),
      CONSTRUCT_SIGNAL_IN(Kp, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_IN(zmp, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_IN(zmpDes, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_IN(ddcomDes, dynamicgraph::Vector),
      CONSTRUCT_SIGNAL_OUT(ddcomRef, dynamicgraph::Vector, INPUT_SIGNALS),
      CONSTRUCT_SIGNAL_INNER(stateRef, dynamicgraph::Vector, m_ddcomRefSOUT),
      CONSTRUCT_SIGNAL_OUT(comRef, dynamicgraph::Vector, m_stateRefSINNER),
      CONSTRUCT_SIGNAL_OUT(dcomRef, dynamicgraph::Vector, m_stateRefSINNER)
      // dcomRef is set to depend from comRefSOUT to ensure position is updated
      // before velocity
      ,
      m_initSucceeded(false) {
  Entity::signalRegistration(INPUT_SIGNALS << INNER_SIGNALS << OUTPUT_SIGNALS);
 
  /* Commands. */
  addCommand("init", makeCommandVoid1(*this, &ComAdmittanceController::init,
                                      docCommandVoid1("Initialize the entity.",
                                                      "time step")));
  addCommand("setPosition",
             makeCommandVoid1(*this, &ComAdmittanceController::setPosition,
                              docCommandVoid1("Set initial reference position.",
                                              "Initial position")));
  addCommand("setVelocity",
             makeCommandVoid1(*this, &ComAdmittanceController::setVelocity,
                              docCommandVoid1("Set initial reference velocity.",
                                              "Initial velocity")));
  addCommand("setState",
             makeCommandVoid2(
                 *this, &ComAdmittanceController::setState,
                 docCommandVoid2("Set initial reference position and velocity.",
                                 "Initial position", "Initial velocity")));
}
 
void ComAdmittanceController::init(const double& dt) {
  if (!m_KpSIN.isPlugged())
    return SEND_MSG("Init failed: signal Kp is not plugged", MSG_TYPE_ERROR);
  if (!m_ddcomDesSIN.isPlugged())
    return SEND_MSG("Init failed: signal ddcomDes is not plugged",
                    MSG_TYPE_ERROR);
  if (!m_zmpSIN.isPlugged())
    return SEND_MSG("Init failed: signal zmp is not plugged", MSG_TYPE_ERROR);
  if (!m_zmpDesSIN.isPlugged())
    return SEND_MSG("Init failed: signal zmpDes is not plugged",
                    MSG_TYPE_ERROR);
 
  m_dt = dt;
  m_state.setZero(6);
  m_initSucceeded = true;
}
 
void ComAdmittanceController::setPosition(const dynamicgraph::Vector& com) {
  m_state.head<3>() = com;
}
 
void ComAdmittanceController::setVelocity(const dynamicgraph::Vector& dcom) {
  m_state.tail<3>() = dcom;
}
 
void ComAdmittanceController::setState(const dynamicgraph::Vector& com,
                                       const dynamicgraph::Vector& dcom) {
  setPosition(com);
  setVelocity(dcom);
}
 
/* ------------------------------------------------------------------- */
/* --- SIGNALS ------------------------------------------------------- */
/* ------------------------------------------------------------------- */
 
DEFINE_SIGNAL_OUT_FUNCTION(ddcomRef, dynamicgraph::Vector) {
  if (!m_initSucceeded) {
    SEND_WARNING_STREAM_MSG(
        "Cannot compute signal ddcomRef before initialization!");
    return s;
  }
  if (s.size() != 3) s.resize(3);
 
  getProfiler().start(PROFILE_COMADMITTANCECONTROLLER_DDCOMREF_COMPUTATION);
 
  const Vector& ddcomDes = m_ddcomDesSIN(iter);
  const Vector& zmp = m_zmpSIN(iter);
  const Vector& zmpDes = m_zmpDesSIN(iter);
  const Vector& Kp = m_KpSIN(iter);
 
  assert(ddcomDes.size() == 3 && "Unexpected size of signal ddcomDes");
  assert(zmp.size() == 3 && "Unexpected size of signal zmp");
  assert(zmpDes.size() == 3 && "Unexpected size of signal zmpDes");
  assert(Kp.size() == 3 && "Unexpected size of signal Kp");
 
  s = ddcomDes + Kp.cwiseProduct(zmp - zmpDes);
 
  getProfiler().stop(PROFILE_COMADMITTANCECONTROLLER_DDCOMREF_COMPUTATION);
 
  return s;
}
 
DEFINE_SIGNAL_INNER_FUNCTION(stateRef, dynamicgraph::Vector) {
  if (!m_initSucceeded) {
    SEND_WARNING_STREAM_MSG(
        "Cannot compute signal stateRef before initialization!");
    return s;
  }
  if (s.size() != 6) s.resize(6);
 
  getProfiler().start(PROFILE_COMADMITTANCECONTROLLER_STATEREF_COMPUTATION);
 
  const Vector& ddcomRef = m_ddcomRefSOUT(iter);
 
  assert(ddcomRef.size() == 3 && "Unexpected size of signal ddcomRef");
 
  const Eigen::Vector3d dcomRef = m_state.tail<3>();
 
  m_state.head<3>() += dcomRef * m_dt + 0.5 * ddcomRef * m_dt * m_dt;
  m_state.tail<3>() += ddcomRef * m_dt;
 
  s = m_state;
 
  getProfiler().stop(PROFILE_COMADMITTANCECONTROLLER_STATEREF_COMPUTATION);
 
  return s;
}
 
DEFINE_SIGNAL_OUT_FUNCTION(comRef, dynamicgraph::Vector) {
  if (!m_initSucceeded) {
    SEND_WARNING_STREAM_MSG(
        "Cannot compute signal dcomRef before initialization!");
    return s;
  }
  if (s.size() != 3) s.resize(3);
 
  getProfiler().start(PROFILE_COMADMITTANCECONTROLLER_COMREF_COMPUTATION);
 
  const Vector& stateRef = m_stateRefSINNER(iter);
 
  assert(stateRef.size() == 6 && "Unexpected size of signal stateRef");
 
  s = stateRef.head<3>();
 
  getProfiler().stop(PROFILE_COMADMITTANCECONTROLLER_COMREF_COMPUTATION);
 
  return s;
}
 
DEFINE_SIGNAL_OUT_FUNCTION(dcomRef, dynamicgraph::Vector) {
  if (!m_initSucceeded) {
    SEND_WARNING_STREAM_MSG(
        "Cannot compute signal dcomRef before initialization!");
    return s;
  }
  if (s.size() != 3) s.resize(3);
 
  getProfiler().start(PROFILE_COMADMITTANCECONTROLLER_DCOMREF_COMPUTATION);
 
  const Vector& stateRef = m_stateRefSINNER(iter);
 
  assert(stateRef.size() == 6 && "Unexpected size of signal stateRef");
 
  s = stateRef.tail<3>();
 
  getProfiler().stop(PROFILE_COMADMITTANCECONTROLLER_DCOMREF_COMPUTATION);
 
  return s;
}
 
/* --- COMMANDS ---------------------------------------------------------- */
 
/* ------------------------------------------------------------------- */
/* --- ENTITY -------------------------------------------------------- */
/* ------------------------------------------------------------------- */
 
void ComAdmittanceController::display(std::ostream& os) const {
  os << "ComAdmittanceController " << getName();
  try {
    getProfiler().report_all(3, os);
  } catch (ExceptionSignal e) {
  }
}
}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph